CN209988025U - Mechanical leg - Google Patents
Mechanical leg Download PDFInfo
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- CN209988025U CN209988025U CN201920689976.2U CN201920689976U CN209988025U CN 209988025 U CN209988025 U CN 209988025U CN 201920689976 U CN201920689976 U CN 201920689976U CN 209988025 U CN209988025 U CN 209988025U
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Abstract
The embodiment of the utility model relates to a mechanical leg, which comprises a first leg, a second leg and a connecting plate, wherein the first leg comprises a first driving unit, a first speed reducing unit, a first adsorption unit, a first inner shell and a first outer shell; the first driving unit is connected with the first speed reducing unit; the first speed reducing unit is fixedly connected with the first adsorption unit; the bottom of the first inner shell is fixedly connected with the first speed reducing unit; the bottom end of the first shell is fixedly connected with the first adsorption unit; the second supporting leg comprises a second inner shell, a second driving unit, a second speed reducing unit, a second adsorption unit and a second outer shell; the second driving unit is connected with the second speed reducing unit; the second speed reducing unit is fixedly connected with the second adsorption unit; the second inner shell is used for accommodating the second driving unit and the second speed reducing unit, and the bottom of the second inner shell is fixedly connected with the second speed reducing unit; the bottom end of the second shell is fixedly connected with the second adsorption unit; the connecting plate is fixedly connected with the first inner shell and the second inner shell respectively.
Description
Technical Field
The utility model relates to the technical field of machinery, especially, relate to a mechanical leg.
Background
With the rapid development of society, robots are more and more popular with people, are gradually applied to various industries, have various types, and can be used in multiple fields such as military affairs, life service, emergency rescue and disaster relief, entertainment and the like. Robots can be classified into wheel robots, crawler robots, and foot robots according to the way in which the robots travel. Compared with wheeled, crawling and tracked robots, the biped robot has more flexible motion capability and stronger environmental adaptability and anthropomorphic performance, so that the biped robot is widely applied to replacing people for operation in severe environments such as toxic environment, dust environment and the like, assisting doctors in performing operations, helping disabled patients to perform effective rehabilitation, replacing real people to perform experiments related to human walking and the like.
The lower limbs are used as important components of the biped robot, and the structural design of the lower limbs directly influences the motion performance of the whole robot. At present, the lower limb structures of the existing biped robot are very similar, the structures are complex and inflexible, and the single motion state of the lower limb structure can only realize the forward and backward motion, can not realize the steering motion, and can not meet the requirements of various walking states.
Therefore, how to design a lower limb structure which has simple structure and flexible operation and can realize various motion states is an important problem researched by the technical personnel in the field.
SUMMERY OF THE UTILITY MODEL
The utility model aims at prior art's defect, provide a mechanical leg, simple structure, the flexible operation, through controlling the cooperation of drive unit and absorption unit, can realize the multiple motion state of multi-angle, can realize turning to the motion promptly in the seesaw process.
In view of this, the embodiment of the present invention provides a mechanical leg, which includes a first leg, a second leg and a connecting plate;
the first support leg comprises a first driving unit, a first speed reducing unit, a first adsorption unit, a first inner shell and a first outer shell; the power output end of the first driving unit is connected with the power input end of the first speed reducing unit; the power output end of the first speed reducing unit is fixedly connected with the first adsorption unit; the first inner shell is used for accommodating the first driving unit and the first speed reducing unit, and the bottom of the first inner shell is fixedly connected with the power input end of the first speed reducing unit; the first outer shell is sleeved on the outer sides of the first inner shell and the first adsorption unit, the first inner shell and the first outer shell are connected through a first bearing and a second bearing, and the bottom end of the first outer shell is fixedly connected with the first adsorption unit;
the second supporting leg comprises a second inner shell, a second driving unit, a second speed reducing unit, a second adsorption unit and a second outer shell; the power output end of the second driving unit is connected with the power input end of the second speed reducing unit; the power output end of the second speed reducing unit is fixedly connected with the second adsorption unit; the second inner shell is used for accommodating the second driving unit and the second speed reducing unit, and the bottom of the second inner shell is fixedly connected with the power input end of the second speed reducing unit; the second outer shell is sleeved on the outer sides of the second inner shell and the second adsorption unit, the second inner shell and the second outer shell are connected through a third bearing and a fourth bearing, and the bottom end of the second outer shell is fixedly connected with the second adsorption unit;
the connecting plate is fixedly connected with the top of the first inner shell and the top of the second inner shell respectively.
Preferably, the first adsorption unit is fixed on the fixing plate in an adsorption manner, the power output end of the first driving unit outputs driving force to the first speed reduction unit for speed reduction, the power output end of the first speed reduction unit transmits the driving force to the first adsorption unit, the power output end of the first speed reduction unit is fixed as the first adsorption unit is fixed, and the power input end of the first speed reduction unit drives the first inner shell to rotate, so that the second support leg is driven to rotate around the first support leg through the connecting plate; alternatively, the first and second electrodes may be,
the second adsorbs the unit and adsorbs to fix on the fixed plate, the power take off of second drive unit will drive power transmission to the speed reduction of second reduction unit, the power take off of second reduction unit will drive power output extremely the second adsorbs the unit, because the second adsorbs the unit to keep fixed, and the power take off of second reduction unit also keeps fixed, and the power take off of second reduction unit drives the second inner shell rotates, thereby passes through the connecting plate drives first landing leg centers on the second landing leg rotates.
Preferably, the first driving unit generates a first driving force under the control of the upper computer, and drives the first speed reduction unit to rotate along a first rotation direction, so as to drive the first adsorption unit to rotate along the first rotation direction, thereby generating a tangential first friction force; meanwhile, the second driving unit generates a second driving force under the control of the upper computer, and drives the second speed reduction unit to rotate along a second rotation direction opposite to the first rotation direction, so that the second adsorption unit is driven to rotate along the second rotation direction, and a tangential second friction force is generated; the component force in the tangential direction of the first friction force and the component force in the tangential direction of the second friction force are opposite in magnitude and opposite in direction, so that the first leg and the second leg move forwards or backwards under the action of the resultant force of the first friction force and the second friction force.
Preferably, the first bearing is sleeved in the middle of the first inner shell, and the second bearing is sleeved at the bottom of the first inner shell;
the third bearing is sleeved at the middle part of the second inner shell, and the fourth bearing is sleeved at the bottom of the second inner shell.
Further preferably, the two ends of the connecting plate are provided with a first mounting groove and a second mounting groove, the first mounting groove is used for fixing the top of the first inner shell, and the second mounting groove is used for fixing the top of the second inner shell.
Further preferably, the first adsorption unit is a magnet or a sucker, and the second adsorption unit is a magnet or a sucker.
Further preferably, the first adsorption unit is an electromagnet, and the first leg further comprises a first battery connected to the electromagnet and supplying power to the first electromagnet.
Further preferably, a first partition plate is arranged inside the first shell, the first battery is placed on the first partition plate, a first through hole is formed in the middle of the first partition plate, and the output end of the first speed reduction unit penetrates through the first through hole to be connected with the first adsorption unit.
Further preferably, the second adsorption unit is an electromagnet, and the second support leg further comprises a second battery connected to the electromagnet and supplying power to the second electromagnet.
Further preferably, a second partition plate is arranged inside the second shell, the second battery is placed on the second partition plate, a second through hole is formed in the middle of the second partition plate, and the output end of the second speed reduction unit penetrates through the second through hole to be connected with the second adsorption unit.
The embodiment of the utility model provides a pair of mechanical leg, simple structure, the flexible operation, through controlling the cooperation of drive unit and absorption unit, can realize the multiple motion state of multi-angle, can realize turning to the motion promptly in the seesaw process.
Drawings
Fig. 1 is a schematic mechanical diagram of a mechanical leg according to an embodiment of the present invention;
fig. 2 is an exploded schematic view of a first leg according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a first housing according to an embodiment of the present invention;
fig. 4 is an exploded view of a second leg according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a second housing according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a connection plate according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a motion of a mechanical leg according to an embodiment of the present invention;
fig. 8 is another schematic diagram of the movement of the mechanical leg according to the embodiment of the present invention;
fig. 9 is a schematic structural diagram of a robot with mechanical legs according to an embodiment of the present invention.
Detailed Description
The technical solution of the present invention is further described in detail by the accompanying drawings and examples.
The embodiment of the utility model provides a multi-angle movement and walking can be realized to the mechanical leg, specifically can use on mechanical equipment such as robots, realize the removal and the walking of multi-direction multi-angle. Fig. 1 is a schematic mechanism diagram of a mechanical leg provided by an embodiment of the present invention, as shown in fig. 1, the mechanical leg includes a first leg 1, a second leg 2, and a connecting plate 3. The first leg 1, the second leg 2 and the web 3 will be described separately below.
Fig. 2 is an exploded schematic view of a first leg 1 according to an embodiment of the present invention, and as shown in fig. 2, the first leg 1 includes a first driving unit 11, a first speed reducing unit 12, a first adsorption unit 13, a first inner shell 14, and a first outer shell 15.
The first driving unit 11 is a power element capable of providing a driving force, and is used for providing a power source for the first leg 1 or the second leg 2, and the first driving unit 11 can be used for driving the first leg 1 to move, and the first driving unit 11 can also be used for driving the second leg 2 to move when the first leg 1 is fixed, and in the field, the first driving unit 11 is preferably a motor.
The first speed reducing unit 12 is used for reducing speed, and may be specifically a speed reducer, the first speed reducing unit 12 has a power input end and a power output end, the power input end is connected with the power output end of the first driving unit 11, and the power output end of the first speed reducing unit 12 is fixedly connected with the first adsorption unit 13, that is, the first driving unit 11 outputs the generated driving force to the first speed reducing unit 12, and after the first speed reducing unit 12 reduces speed, the driving force is output to the first adsorption unit 13.
The first adsorption unit 13 is a module with an adsorption function, and is used for adsorbing on a fixing plate to fix the first leg 1, wherein the fixing plate is a plate surface which can be matched with the first adsorption unit 13 to realize adsorption and fixation, and the fixing plate can be specifically a ground surface or a fixing plate made of special materials; it should be noted that there are various methods for implementing the adsorption function, including but not limited to mechanical adsorption and magnetic adsorption, specifically, the first adsorption unit 13 may be a suction cup, and adsorption to the ground may be implemented by the suction cup, so as to fix the first leg 1, the first adsorption unit 13 may also be a magnet, and the fixing plate is made of iron, so that the first adsorption unit 13 may be adsorbed on the fixing plate, in a specific example, the first adsorption unit 13 is preferably an electromagnet, the first leg 1 further includes a first battery connected to the electromagnet, the first battery is used to supply power to the electromagnet, and whether the first adsorption unit 13 adsorbs the fixing plate is controlled by powering on and powering off, that is, whether the first leg 1 is fixed.
The first inner shell 14 is used for accommodating the first driving unit 11 and the first speed reducing unit 12, and the bottom of the first inner shell 14 is fixedly connected with the power input end of the first speed reducing unit 12, specifically, a first base (not shown in the figure) is arranged at the bottom end of the first inner shell 14, a fixing seat is sleeved outside the first speed reducing unit 12, the fixing seat is clamped and fixed on the first base of the first inner shell 14, a through hole is further formed in the first base, and the output end of the first speed reducing unit 12 is exposed out of the through hole in the first base. In order to reduce the overall weight, a plurality of hollowed-out holes may be symmetrically formed on the side wall of the first inner shell 14.
The first outer shell 15 is sleeved on the outer sides of the first inner shell 14 and the first adsorption unit 13, and the bottom end of the first outer shell 15 is fixedly connected with the first adsorption unit 13, that is, when the first adsorption unit 13 is fixed, the first outer shell 15 is also fixed, and when the first adsorption unit 13 rotates, the first outer shell 15 rotates along with the first outer shell. It should be noted that, the first inner shell 14 and the first outer shell 15 are connected through the first bearing 4 and the second bearing 5, the first bearing 4 is preferably sleeved in the middle of the first inner shell 14, the second bearing 5 is preferably sleeved at the bottom of the first inner shell 14, and the two bearings can better realize the relative movement of the first inner shell 14 and the first outer shell 15.
Fig. 3 is a schematic structural diagram of the first outer shell 15 according to an embodiment of the present invention, as shown in fig. 3, a first partition 151 is preferably disposed inside the first outer shell 15, a first battery (not shown in the figure) is disposed on the first partition 151, a first through hole is disposed in the middle of the first partition 151, the output end of the first decelerating unit 12 penetrates through the first through hole to be connected with the first absorbing unit 13, and the first partition 151 can accommodate devices such as a battery or a receiving module, on the other hand, can bear the weight of the first inner shell 14, and maintain the stability of the first leg 1 in the working process.
The structure of the second support leg 2 is the same as that of the first support leg 1, fig. 4 is an exploded schematic view of the second support leg 2 according to the embodiment of the present invention, and as shown in fig. 4, the second support leg 2 includes a second driving unit 21, a second speed reducing unit 22, a second adsorption unit 23, a second inner shell 24 and a second outer shell 25.
The second driving unit 21 is a power element capable of providing a driving force, and is used for providing a power source for the first leg 1 or the second leg 2, and the second driving unit 21 can be used for driving the movement of the second leg 2, and also can be used for driving the movement of the first leg 1 when the second leg 2 is fixed, and in the field, the second driving unit 21 is preferably a motor.
The second speed reducing unit 22 is used for reducing speed, and may be specifically a speed reducer, the second speed reducing unit 22 has a power input end and a power output end, the power input end of the second speed reducing unit 22 is connected to the power output end of the second driving unit 21, and the power output end of the second speed reducing unit 22 is fixedly connected to the second adsorption unit 23, that is, the second driving unit 21 outputs the generated driving force to the second speed reducing unit 22, and the second speed reducing unit 22 outputs the driving force to the second adsorption unit 23 after speed reduction.
The second adsorption unit 23 is a module with an adsorption function, and is capable of being adsorbed on a fixing plate to fix the second support leg 2, where the fixing plate is a plate surface capable of being matched with the second adsorption unit 23 to realize adsorption and fixation, and may be specifically a ground surface, or a fixing plate made of a special material; it should be noted that there are various methods for implementing the adsorption function, including but not limited to mechanical adsorption and magnetic adsorption, specifically, the second adsorption unit 23 may be a suction cup, and adsorption to the ground may be implemented by the suction cup, so as to fix the second leg 2, the second adsorption unit 23 may also be a magnet, and the fixing plate is made of iron, so that the second adsorption unit 23 may be adsorbed on the fixing plate, in a specific example, the second adsorption unit 23 is preferably an electromagnet, the second leg 2 further includes a second battery (not shown in the figure) connected to the electromagnet, the second battery is used to supply power to the electromagnet, and whether the second adsorption unit 23 adsorbs the fixing plate is controlled by powering on and powering off, that is, whether the second leg 2 is fixed.
The second inner shell 24 is used for accommodating the second driving unit 21 and the second speed reducing unit 22, and the bottom of the second inner shell 24 is fixedly connected with the power input end of the second speed reducing unit 22, specifically, a second base (not shown in the figure) is arranged at the bottom end of the second inner shell 24, a fixing seat is sleeved outside the second speed reducing unit 22, the fixing seat is clamped and fixed on the second base of the second inner shell 24, a through hole is further formed in the second base, and the output end of the second speed reducing unit 22 is exposed out of the through hole in the second base. In order to reduce the overall weight, a plurality of hollowed-out holes may be symmetrically formed in the side wall of the second inner casing 24.
The second outer shell 25 is sleeved on the outer sides of the second inner shell 24 and the second adsorption unit 23, and the bottom end of the second outer shell 25 is fixedly connected with the second adsorption unit 23, that is, when the second adsorption unit 23 is fixed, the second outer shell 25 is also fixed, and when the second adsorption unit 23 rotates, the second outer shell 25 also rotates. It should be noted that, the second inner shell 24 and the second outer shell 25 are connected through a third bearing 6 and a fourth bearing 7, the third bearing 6 is preferably sleeved in the middle of the second inner shell 24, the fourth bearing 7 is preferably sleeved in the bottom of the second inner shell 24, and the two bearings can better realize the relative movement of the second inner shell 24 and the second outer shell 25.
Fig. 5 is a schematic structural diagram of the second outer shell 25 provided by the embodiment of the present invention, as shown in fig. 5, a second partition 251 is preferably disposed inside the second outer shell 25, the second battery is placed on the second partition 251, a second through hole is disposed in the middle of the second partition 251, the output end of the second speed reduction unit 22 penetrates through the second through hole to be connected with the second adsorption unit 23, on one hand, the second partition 251 can place a battery or a receiving module, on the other hand, can bear the weight of the second inner shell 24, and maintain the stability of the second leg 2 in the working process.
Fig. 6 is a schematic structural diagram of a connecting plate 3 provided by an embodiment of the present invention, as shown in fig. 1 and fig. 6, the connecting plate 3 is used for realizing connection and transmission between the first leg 1 and the second leg 2, the connecting plate 3 is respectively fixedly connected to the top of the first inner shell 14 and the top of the second inner shell 24, specifically, the two ends of the connecting plate 3 are provided with a first mounting groove 31 and a second mounting groove 32, the first mounting groove 31 is used for fixing the top of the first inner shell 14, and the second mounting groove 32 is used for fixing the top of the second inner shell 24, and specifically, the connecting plate can be fixed by bolts.
It should be noted that the first driving unit 11, the second driving unit 21, the first adsorption unit 13, and the second adsorption unit 23 in the robot leg may be remotely controlled by an upper computer, and the first driving unit 11, the second driving unit 21, the first adsorption unit 13, and the second adsorption unit 23 may operate individually or simultaneously, and those skilled in the art may remotely control the moving and walking state of the robot leg as needed.
On the basis of the knowledge of the structure of the robot leg according to the invention, the operating mode and the process of the robot leg are described below.
Based on whether the adsorption unit is fixed, the utility model discloses an operating condition that mechanical leg can realize can be divided into following several kinds:
the first is that one leg is fixed and the other leg rotates around it, i.e. the mechanical leg as a whole is in a turning motion.
Specifically, the first adsorption unit 13 generates adsorption force to be adsorbed and fixed on the fixing plate, the first driving unit 11 starts to work according to a control signal sent by the upper computer to generate driving force, the power output end of the first driving unit 11 outputs the driving force to the first speed reduction unit 12 to reduce the speed, after the speed is reduced, the power output end of the first reduction gear unit 12 transmits the driving force to the first adsorption unit 13, since the first adsorption unit 13 is kept fixed, the power output end of the first reduction gear unit 12 is also kept fixed, whereby the power input end of the first reduction gear unit 12 rotates the first inner casing 14, therefore, the connecting plate 3 drives the second leg 2 to rotate around the first leg 1, and it should be noted that the rotation direction of the second leg 2 around the first leg 1 can be two opposite directions, namely, forward direction or reverse direction, and is specifically controlled by the rotation direction of the first driving unit 11.
Or, the second adsorption unit 23 generates adsorption force to be adsorbed and fixed on the fixing plate, the second driving unit 21 starts to work according to a control signal sent by the upper computer to generate driving force, the power output end of the second driving unit 21 transmits the driving force to the second speed reducing unit 22 to reduce the speed, the power output end of the second speed reducing unit 22 outputs the driving force to the second adsorption unit 23, the second adsorption unit 23 is kept fixed, the power output end of the second speed reducing unit 22 is also kept fixed, therefore, the power input end of the second speed reducing unit 22 drives the second inner shell 24 to rotate, and the first support leg 1 is driven to rotate around the second support leg 2 through the connecting plate 3. It should be noted that the rotation direction of the first leg 1 around the second leg 2 can be two opposite directions, namely, forward direction or reverse direction, and is specifically controlled by the rotation direction of the second driving unit 21.
And the second is a state that the two leg supporting legs rotate to drive the whole mechanical leg to move forwards or backwards.
Specifically, the first driving unit 11 and the second driving unit 21 work simultaneously, the first adsorption unit 13 and the second adsorption unit 23 are not adsorbed, the first driving unit 11 generates a first driving force under the control of the upper computer, and drives the first speed reduction unit 12 to rotate along a first rotation direction, so as to drive the first adsorption unit 13 to rotate along the first rotation direction, and thus, a tangential first friction force is generated; meanwhile, the second driving unit 21 generates a second driving force under the control of the upper computer, and drives the second speed reduction unit 22 to rotate along a second rotation direction opposite to the first rotation direction, so as to drive the second adsorption unit 23 to rotate along the second rotation direction, and thus a tangential second friction force is generated; when the rotation speeds of the first and second driving units 11 and 21 are the same, the tangential component of the first friction force and the tangential component of the second friction force are opposite in magnitude and opposite in direction, so that the first and second legs 1 and 2 move forward or backward under the resultant force of the first and second friction forces, and the first and second outer casings 15 and 25 rotate while the first and second inner casings 14 and 24 do not move.
As shown in fig. 7, when the first housing 15 and the second housing 25 are rotated inward in the direction shown in fig. 7, the mechanical leg moves in the arrow direction, that is, rearward, as a whole.
As shown in fig. 8, when the first housing 15 and the second housing 25 are rotated outward in the direction shown in fig. 8, the mechanical leg moves in the arrow direction, i.e., forward, as a whole.
Thirdly, the two legs rotate to drive the mechanical leg to move forwards or backwards and rotate at the same time.
The motion principle of this case is similar to the second case, and the difference is that the rotation speeds of the first driving unit 11 and the second driving unit 21 are different, so that the component force in the tangential direction of the first friction force and the tangential direction of the second friction force cannot be mutually offset, and thus the whole mechanical leg is driven to rotate while moving forwards or backwards, that is, the mechanical leg can rotate at any angle during the forward or backward movement.
The embodiment of the utility model provides a mechanical leg can use on the device that needs removal and walking such as robot, it is preferred, in order to realize the installation of mechanical leg, be equipped with spread groove 33 at the middle part of connecting plate 3, specifically can realize being connected of mechanical leg and other devices through bearing and spread groove 33, in a specific example, the robot behind the installation mechanical leg can be as shown in fig. 9, can be through the first drive unit 11 of the control module control mechanical leg of robot, second drive unit 21, first absorption unit 13 and second absorption unit 23, thereby realize that the robot carries out work according to above-mentioned arbitrary running state.
The embodiment of the utility model provides a pair of mechanical leg, simple structure, the flexible operation, through controlling the cooperation of drive unit and absorption unit, can realize the multiple motion state of multi-angle, can realize turning to the motion promptly in the seesaw process.
In the present invention, the term "plurality" means two or more unless explicitly defined otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the description of the present invention, it should be understood that the terms "upper", "lower", "left", "right", "front", "back", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or unit indicated must have a specific direction, be constructed and operated in a specific orientation, and therefore, should not be construed as limiting the present invention.
In the description herein, the description of the terms "a particular embodiment," "some embodiments," "an embodiment," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above-mentioned embodiments, further detailed description of the objects, technical solutions and advantages of the present invention, it should be understood that the above description is only the embodiments of the present invention, and is not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A mechanical leg, comprising a first leg, a second leg, and a web;
the first support leg comprises a first driving unit, a first speed reducing unit, a first adsorption unit, a first inner shell and a first outer shell; the power output end of the first driving unit is connected with the power input end of the first speed reducing unit; the power output end of the first speed reducing unit is fixedly connected with the first adsorption unit; the first inner shell is used for accommodating the first driving unit and the first speed reducing unit, and the bottom of the first inner shell is fixedly connected with the power input end of the first speed reducing unit; the first outer shell is sleeved on the outer sides of the first inner shell and the first adsorption unit, the first inner shell and the first outer shell are connected through a first bearing and a second bearing, and the bottom end of the first outer shell is fixedly connected with the first adsorption unit;
the second supporting leg comprises a second inner shell, a second driving unit, a second speed reducing unit, a second adsorption unit and a second outer shell; the power output end of the second driving unit is connected with the power input end of the second speed reducing unit; the power output end of the second speed reducing unit is fixedly connected with the second adsorption unit; the second inner shell is used for accommodating the second driving unit and the second speed reducing unit, and the bottom of the second inner shell is fixedly connected with the power input end of the second speed reducing unit; the second outer shell is sleeved on the outer sides of the second inner shell and the second adsorption unit, the second inner shell and the second outer shell are connected through a third bearing and a fourth bearing, and the bottom end of the second outer shell is fixedly connected with the second adsorption unit;
the connecting plate is fixedly connected with the top of the first inner shell and the top of the second inner shell respectively.
2. Mechanical leg according to claim 1,
the first adsorption unit is fixedly adsorbed on the fixing plate, the power output end of the first driving unit outputs driving force to the first speed reduction unit for speed reduction, the power output end of the first speed reduction unit transmits the driving force to the first adsorption unit, the power output end of the first speed reduction unit is fixedly maintained as the first adsorption unit is fixedly maintained, and the power input end of the first speed reduction unit drives the first inner shell to rotate, so that the second support leg is driven to rotate around the first support leg through the connecting plate; alternatively, the first and second electrodes may be,
the second adsorbs the unit and adsorbs to fix on the fixed plate, the power take off of second drive unit will drive power transmission to the speed reduction of second reduction unit, the power take off of second reduction unit will drive power output extremely the second adsorbs the unit, because the second adsorbs the unit to keep fixed, and the power take off of second reduction unit also keeps fixed, and the power take off of second reduction unit drives the second inner shell rotates, thereby passes through the connecting plate drives first landing leg centers on the second landing leg rotates.
3. Mechanical leg according to claim 1,
the first driving unit generates a first driving force under the control of the upper computer, and drives the first speed reduction unit to rotate along a first rotation direction, so that the first adsorption unit is driven to rotate along the first rotation direction, and a tangential first friction force is generated; meanwhile, the second driving unit generates a second driving force under the control of the upper computer, and drives the second speed reduction unit to rotate along a second rotation direction opposite to the first rotation direction, so that the second adsorption unit is driven to rotate along the second rotation direction, and a tangential second friction force is generated; the component force in the tangential direction of the first friction force and the component force in the tangential direction of the second friction force are opposite in magnitude and opposite in direction, so that the first leg and the second leg move forwards or backwards under the action of the resultant force of the first friction force and the second friction force.
4. The mechanical leg according to claim 1, wherein the first bearing is sleeved on a middle portion of the first inner shell, and the second bearing is sleeved on a bottom portion of the first inner shell;
the third bearing is sleeved at the middle part of the second inner shell, and the fourth bearing is sleeved at the bottom of the second inner shell.
5. The robot leg of claim 1, wherein both ends of the connection plate have a first mounting groove for fixing a top of the first inner case and a second mounting groove for fixing a top of the second inner case.
6. The mechanical leg according to claim 1, wherein the first suction unit is a magnet or a suction cup, and the second suction unit is a magnet or a suction cup.
7. The mechanical leg according to claim 1 or 6, wherein the first adsorption unit is a first electromagnet, and the first leg further comprises a first battery connected to the first electromagnet to supply power to the first electromagnet.
8. The mechanical leg as claimed in claim 7, wherein a first partition is provided inside the first housing, the first battery is placed on the first partition, a first through hole is provided in the middle of the first partition, and the output end of the first speed reduction unit is connected with the first adsorption unit through the first through hole.
9. The mechanical leg according to claim 1 or 6, wherein the second adsorption unit is a second electromagnet, and the second leg further comprises a second battery connected to the second electromagnet to supply power to the second electromagnet.
10. The mechanical leg according to claim 9, wherein a second partition board is provided inside the second housing, the second battery is placed on the second partition board, a second through hole is provided in the middle of the second partition board, and the output end of the second speed reduction unit penetrates through the second through hole to be connected with the second adsorption unit.
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| CN113696226A (en) * | 2021-08-13 | 2021-11-26 | 万勋科技(深圳)有限公司 | Mechanical arm protection method and mechanical arm |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113696226A (en) * | 2021-08-13 | 2021-11-26 | 万勋科技(深圳)有限公司 | Mechanical arm protection method and mechanical arm |
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